Dynamic testing device and method for performance of sensors carried by internal detector of oil and gas pipeline

Abstract

The application discloses an oil and gas pipeline internal detector-mounted sensor performance dynamic testing device and method, relates to the oil and gas pipeline internal detection technical field, and the dynamic testing device comprises a test platform, a test turntable, a mechanical arm, a medium temperature simulation module, a medium flow simulation module and a control device, the surface of the test turntable is divided into different working areas, the control device controls the rotating speed of the test turntable, the pose of the mechanical arm, the temperature of the medium temperature simulation module and the flow state of the medium flow simulation module, simulates different test working conditions, receives the detection signals obtained by the test sensor in different working areas under different test working conditions, analyzes the detection signals, and determines the performance of the test sensor under different test working conditions. The application can dynamically test the performance of the oil and gas pipeline internal detector-mounted sensor under different test working conditions, does not need to build a pipeline loop, reduces the cost, and has high test efficiency.

Description

Technical Field

[0001] This application relates to the field of oil and gas pipeline internal detection technology, and in particular to a dynamic testing device and method for the performance of sensors mounted on an oil and gas pipeline internal detector. Background Technology

[0002] With advancements in sensor and data processing technologies, pipeline detectors are evolving towards higher precision, more functions, and greater intelligence. For example, their capabilities have expanded from detecting only large-area corrosion to detecting minute cracks and manufacturing defects. The sensors used in pipeline detectors can be either new or existing sensors. However, whether developing new sensors or upgrading existing ones, rigorous and reliable testing is essential to verify their performance before they can be deployed in engineering applications.

[0003] When testing sensors, static laboratory testing methods are often used: the sensor is fixed on a test bench in the laboratory, and a static, defective specimen is scanned to verify its performance. However, this method completely ignores key dynamic factors such as speed and vibration, limiting the reference value of the test results. Clearly, static testing of a single sensor is relatively easy in the laboratory. However, detectors operating in real oil and gas pipelines operate in an extremely complex and harsh environment, causing sensors that perform well in the laboratory to perform poorly in the field. Therefore, the reference value of static test results is limited. Thus, it is essential to design dynamic testing methods that can simulate real-world operating conditions.

[0004] Currently, the main dynamic testing method is the field test section dynamic testing method: construct a pipeline loop containing pre-fabricated defects, allow the sensor to work in the pipeline loop, and conduct dynamic testing on the sensor. This method is closest to reality, but it is extremely expensive, the test conditions are fixed, it is difficult to cover all test conditions, the construction cycle is long, the testing efficiency is low, and it is not suitable for rapid iteration in the research and development stage. Summary of the Invention

[0005] The purpose of this application is to provide a device and method for dynamic testing of the performance of sensors mounted on detectors inside oil and gas pipelines. This device and method can dynamically test the performance of sensors mounted on detectors inside oil and gas pipelines under different testing conditions, without the need to build pipeline loops, thus reducing costs and increasing testing efficiency.

[0006] To achieve the above objectives, this application provides the following solution.

[0007] In a first aspect, this application provides a dynamic testing device for the performance of sensors mounted on an oil and gas pipeline detector. The dynamic testing device for the performance of sensors mounted on an oil and gas pipeline detector includes: a testing platform, a testing turntable, a robotic arm, a medium temperature simulation module, a medium flow simulation module, and a control device. The testing turntable and the robotic arm are both mounted on the testing platform, the medium temperature simulation module and the medium flow simulation module are both mounted on the testing turntable, and the testing turntable, the robotic arm, the medium temperature simulation module, and the medium flow simulation module are all controlled and connected to the control device. The surface of the test turntable is divided into different working areas, including a normal surface area, a wear resistance simulation area, an impact simulation area, a defect simulation area, a medium flow simulation area, and a deformation simulation area. The end of the robotic arm is equipped with a sensor to be tested, which is communicatively connected to the control device; the sensor to be tested is used to detect the surface of the test turntable and obtain a detection signal; the sensor to be tested is a sensor mounted on an oil and gas pipeline detector. The medium temperature simulation module is used to adjust the temperature of the test turntable surface. The medium flow simulation module is installed in the medium flow simulation area; the medium flow simulation module is used to adjust the flow state of the medium in the medium flow simulation area; The control device is used to simulate different test conditions by controlling the rotation speed of the test turntable, the posture of the robotic arm, the temperature of the medium temperature simulation module, and the flow state of the medium flow simulation module. Under different test conditions, it receives the detection signals obtained by the sensor under test detecting the surface of the test turntable in different working areas, analyzes the detection signals, and determines the performance of the sensor under test under different test conditions.

[0008] Secondly, this application provides a method for dynamically testing the performance of a sensor mounted on an oil and gas pipeline detector, used to control the aforementioned dynamic testing device for the performance of a sensor mounted on an oil and gas pipeline detector. The method includes: The rotational speed of the test turntable, the posture of the robotic arm, the temperature of the medium temperature simulation module, and the flow state of the medium flow simulation module are controlled to simulate different test conditions. Under different test conditions, the detection signals obtained by the sensor under test detecting the surface of the test turntable in different working areas are received. The detection signals are analyzed to determine the performance of the sensor under test under different test conditions.

[0009] According to the specific embodiments provided in this application, this application has the following technical effects.

[0010] This application provides a dynamic testing device and method for the performance of a sensor mounted on an oil and gas pipeline internal detector. The dynamic testing device includes a testing platform, a testing turntable, a robotic arm, a medium temperature simulation module, a medium flow simulation module, and a control device. The surface of the testing turntable is divided into different working areas, including a normal surface area, a wear resistance simulation area, an impact simulation area, a defect simulation area, a medium flow simulation area, and a deformation simulation area. The end of the robotic arm is equipped with a sensor to be tested, which is a sensor mounted on an oil and gas pipeline internal detector. The medium temperature simulation module is used to adjust the temperature of the testing turntable surface, and the medium flow simulation module is used to adjust the flow state of the medium in the medium flow simulation area. The control device simulates different test conditions by controlling the rotation speed of the testing turntable, the position of the robotic arm, the temperature of the medium temperature simulation module, and the flow state of the medium flow simulation module. Under different test conditions, the device receives the detection signals obtained by the sensor under test detecting the surface of the testing turntable in different working areas, analyzes the detection signals, and determines the performance of the sensor under test under different test conditions. Through the above design, this application enables dynamic testing of the performance of sensors mounted on detectors inside oil and gas pipelines under different testing conditions. It eliminates the need to construct pipeline loops, reduces costs, and offers high testing efficiency, making it suitable for rapid iteration during the R&D phase. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the structure of a dynamic testing device for the performance of a sensor mounted on an oil and gas pipeline detector, as provided in Embodiment 1 of this application.

[0013] Figure 2 This is a flowchart illustrating the test conditions of a dynamic testing device for sensor performance in an oil and gas pipeline detector provided in Embodiment 1 of this application.

[0014] Figure 3 This is a flowchart illustrating the dynamic performance testing device for an internal detector in an oil and gas pipeline, provided in Embodiment 1 of this application.

[0015] Figure 4 This is a schematic diagram of the structure of a computer device provided in Embodiment 3 of this application.

[0016] Reference numerals: 1-Adjustable robotic arm, 2-Test turntable, 3-Sensor to be tested, 4-Test platform, 5-Adjustable robotic arm, 6-Lockable pulley, 7-Control device, 8-Touch screen, 9-Start / Stop button. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] Example 1.

[0019] This embodiment provides a dynamic performance testing device for sensors mounted on an internal detector in an oil and gas pipeline, such as... Figure 1 As shown, the sensor performance dynamic testing device for the detector inside the oil and gas pipeline includes: a test platform 4, a test turntable 2, a robotic arm, a medium temperature simulation module, a medium flow simulation module, and a control device 7. The test turntable 2 and the robotic arm are both installed on the test platform 4, the medium temperature simulation module and the medium flow simulation module are both installed on the test turntable 2, and the test turntable 2, the robotic arm, the medium temperature simulation module and the medium flow simulation module are all connected to the control device 7 for control.

[0020] The surface of the test turntable 2 is divided into different working areas, including a normal surface area, a wear resistance simulation area, an impact simulation area, a defect simulation area, a medium flow simulation area, and a deformation simulation area.

[0021] The end of the robotic arm is equipped with a sensor 3 to be tested. The sensor 3 to be tested is connected to the control device 7. The sensor 3 to be tested is used to detect the surface of the test turntable 2 and obtain a detection signal. The sensor 3 to be tested is a sensor mounted on the detector inside the oil and gas pipeline.

[0022] The medium temperature simulation module is used to adjust the temperature of the surface of test turntable 2.

[0023] The medium flow simulation module is installed in the medium flow simulation area and is used to adjust the flow state of the medium in the medium flow simulation area.

[0024] The control device 7 is used to simulate different test conditions by controlling the rotation speed of the test turntable 2, the posture of the robotic arm, the temperature of the medium temperature simulation module, and the flow state of the medium flow simulation module. Under different test conditions, it receives the detection signals obtained by the sensor under test 3 detecting the surface of the test turntable 2 in different working areas, analyzes the detection signals, and determines the performance of the sensor under test 3 under different test conditions.

[0025] The following, combined with Figure 1 This paper provides a detailed introduction to the dynamic testing device for sensor performance of the oil and gas pipeline detector used in this embodiment.

[0026] (a) Test Platform 4.

[0027] In this embodiment, the test platform 4 is used as a support platform to install other components. The bottom of the test platform 4 is equipped with multiple lockable pulleys 6 (which are existing mature components). When the lockable pulleys 6 are locked, the test platform 4 cannot be pushed and is more stable. When the lockable pulleys 6 are unlocked, the test platform 4 can be pushed and is easy to move, so that testing can be carried out in any position.

[0028] (ii) Test turntable 2.

[0029] In this embodiment, the test turntable 2 is installed on the test platform 4, and the test turntable 2 is connected to the control device 7.

[0030] The test turntable 2 is used to simulate the motion state of the detector inside the actual oil and gas pipeline. The sensor to be tested 3 is stationary, and the test turntable 2 rotates. There is relative motion between the sensor to be tested 3 and the test turntable 2, which is equivalent to the detector inside the oil and gas pipeline moving inside the pipeline, driving the sensor (i.e., the sensor to be tested 3) carried by the detector inside the oil and gas pipeline to move inside the pipeline.

[0031] The surface of the test turntable 2 is divided into different working areas, including a normal surface area, a wear resistance simulation area, an impact simulation area, a defect simulation area, a medium flow simulation area, and a deformation simulation area.

[0032] The surface of test turntable 2 in the normal surface area is the original surface of test turntable 2, without any special processing.

[0033] The test turntable 2 in the wear resistance simulation area has multiple combinations of rough surfaces. Different combinations of rough surfaces include different numbers and / or roughnesses of rough surfaces. Any one or more combinations of rough surfaces can be selected for wear resistance testing as needed.

[0034] The test turntable 2 in the impact simulation area has multiple impactor combinations on its surface. The number and / or spacing of impactors in different impactor combinations are different. The impactors are welds. Specifically, welds can be machined on the surface of the test turntable 2. The welds will have a certain excess height, protruding from the surface of the test turntable 2. When the test turntable 2 rotates, the sensor 3 to be tested will make rigid contact with the excess height of the weld. Any one or more impactor combinations can be selected according to the test needs to conduct impact tests and verify the sensor's impact resistance in real pipelines.

[0035] The test turntable 2 in the defect simulation area has multiple defect combinations on its surface. Different defect combinations include different numbers, sizes and / or types of defects. Defect types include cracks and corrosion. Any one or more defect combinations can be selected according to the test requirements to perform defect detection tests.

[0036] The test turntable 2 in the medium flow simulation area has a medium receiving groove etched on its surface. The medium receiving groove is filled with medium. The bottom surface of the medium receiving groove is manufactured with defects. The type of medium and the type of defect can be selected according to the test requirements for testing.

[0037] The test turntable 2 in the deformation simulation area has multiple deformation combinations manufactured on its surface. Different deformation combinations include different numbers, sizes, and / or types of deformations. Deformation types include bending, indentation, and bulging. Specifically, the surface of the test turntable 2 can be processed to simulate the deformation of actual pipelines as needed. It can produce bending structures with curvature radii of 500mm–1000mm and indentation and bulging structures with heights of 1mm–3mm to simulate different degrees of deformation of actual pipelines. By forming adjustable curvature bending, indentation, and bulging structures on the surface of the test turntable 2, the deformation of actual pipelines can be simulated. Any one or more deformation combinations can be selected for testing as needed.

[0038] In this embodiment, the above-mentioned different regions can be designed to be distributed at different radii of the test turntable 2.

[0039] Both the test turntable 2 surface in the normal surface area and the test turntable 2 surface in the defect simulation area can be covered with a dielectric conductive layer. Different dielectric conductive layers have different thermal conductivity. By replacing the dielectric conductive layer, the influence of the difference in thermal conductivity of different media on the sensor detection environment can be reproduced.

[0040] Impurities can be added to the medium to reduce the interference of impurity components in the actual pipeline medium on the sensor detection signal.

[0041] An encoder can be installed on the test turntable 2. The encoder is connected to the control device 7 for communication. The encoder is used to detect the actual rotation speed of the test turntable 2 and send the actual rotation speed to the control device 7. The control device 7 is used to perform closed-loop feedback control of the rotation speed based on the actual rotation speed and the target rotation speed, so that the rotation speed deviation between the actual rotation speed and the target rotation speed is no greater than ±0.01m / s.

[0042] In this embodiment, a linear motion platform or a circular track can be used instead of the rotating test turntable 2. Specifically, a high-speed linear motor (i.e., a linear motion platform) can drive the sensor under test 3 or the defective specimen to make relative motion between the sensor under test 3 and the defective specimen. Alternatively, a circular guide rail (i.e., a circular track) can be used to drive the sensor under test 3 to run along the circular guide rail and cross the defective specimen. Both of these methods can simulate relative motion and collect dynamic detection signals, but they have the following limitations: it is difficult to maintain a stable constant speed, it is impossible to achieve long-term cyclic testing, and it is not conducive to the synchronous integration of modules such as the medium temperature simulation module and the medium flow simulation module. Therefore, the test turntable 2 is preferred.

[0043] (iii) Robotic arm.

[0044] In this embodiment, the robotic arm is mounted on the test platform 4 and is connected to the control device 7.

[0045] The robotic arm is used to adjust the position and control the attitude of the sensor 3 under test. By controlling the position and attitude of the robotic arm, the position and attitude of the sensor 3 under test can be adjusted. For example, when controlling the detection surface of the sensor 3 under test (the end face of the sensor 3 under test used to detect the surface) to face different working areas on the test turntable 2, the position of the sensor 3 under test needs to be adjusted. When conducting tests under different test conditions, the attitude of the sensor 3 under test needs to be adjusted.

[0046] The end of the robotic arm is equipped with a sensor 3 to be tested. The sensor 3 is connected to the control device 7. The sensor 3 is used to detect the surface of the test turntable 2, obtain the detection signal, and send the detection signal to the control device 7.

[0047] Specifically, the robotic arm may include an adjustable upper robotic arm 5 and an adjustable lower robotic arm 1. Both the adjustable upper robotic arm 5 and the adjustable lower robotic arm 1 are existing mature components. Both the adjustable upper robotic arm 5 and the adjustable lower robotic arm 1 are mounted on the test platform 4. The adjustable upper robotic arm 5 and the adjustable lower robotic arm 1 are connected by a drive. The adjustable upper robotic arm 5 drives the adjustable lower robotic arm 1 to move. A sensor clamping assembly is installed at the end of the adjustable lower robotic arm 1. The sensor clamping assembly is used to clamp the sensor 3 to be tested in order to fix the sensor 3 to be tested.

[0048] The sensor clamping assembly can clamp the sensor under test 3 through a torque-controllable fastening structure (which is an adjustable clamping clamp, a mature existing component) to avoid damage to the sensor under test 3 due to excessive clamping force.

[0049] (iv) Medium temperature simulation module.

[0050] In this embodiment, the medium temperature simulation module is installed on the test turntable 2, and the medium temperature simulation module is connected to the control device 7.

[0051] The medium temperature simulation module is used to adjust the temperature of the test turntable 2 surface to implement temperature control on the test turntable 2 surface in order to simulate different medium temperature conditions.

[0052] The medium temperature simulation module includes a heating unit and a cooling unit. Both the heating unit and the cooling unit are installed on the bottom surface of the test turntable 2. Both the heating unit and the cooling unit are connected to the control device 7. The heating unit is used to increase the temperature of the surface of the test turntable 2, and the cooling unit is used to decrease the temperature of the surface of the test turntable 2.

[0053] The heating and cooling units can use existing mature components, such as electric heating units and electric cooling units, or heating by blowing hot air and cooling by blowing cold air to simulate the temperature change of the medium.

[0054] The medium temperature simulation module may also include a temperature sensor, which is installed on the surface of the test turntable 2 and is connected to the control device 7. The temperature sensor is used to detect the actual temperature of the surface of the test turntable 2 and send the actual temperature to the control device 7. The control device 7 is used to perform closed-loop feedback control of the temperature based on the actual temperature and the target temperature to form closed-loop temperature control, so that the temperature deviation between the actual temperature and the target temperature is no more than ±2℃.

[0055] (v) Medium flow simulation module (also known as medium flow disturbance simulation module).

[0056] In this embodiment, the medium flow simulation module is installed on the test turntable 2, and the medium flow simulation module is connected to the control device 7.

[0057] The medium flow simulation module is installed in the medium flow simulation area. The medium flow simulation module is used to adjust the flow state of the medium in the medium flow simulation area to generate adjustable laminar flow, turbulent flow or vortex flow states.

[0058] The medium flow simulation module can utilize existing mature components. As an example, the medium flow simulation module may include a turbulence generator and a flow velocity control unit. Both the turbulence generator and the flow velocity control unit are communicatively connected to the control device 7. The structural geometric parameters of the turbulence generator (such as blockage ratio, orifice / slot width, blade angle, and equivalent length) can be adjusted. The flow velocity control unit is used to control the flow velocity of the medium and simulate changes in velocity. It can simulate a settable flow velocity in the range of 0.5 m / s–10 m / s. Therefore, by changing the structural geometric parameters of the turbulence generator and, if necessary, adjusting the disturbance frequency (directly adjusting the vibration of the disturbance component (disturbance structure) in the turbulence generator / adjusting the rotation frequency of the test turntable 2), and cooperating with the flow velocity control unit to adjust the flow velocity and switch the incoming flow velocity, the Reynolds number, vortex intensity, and flow state transition of the flow field can be controlled to change the flow state and simulate the flow of the real fluid medium in the pipeline.

[0059] (vi) Data acquisition module.

[0060] This embodiment can also include a data acquisition module, which is communicatively connected to the signal output terminal of the sensor under test 3 and the control device 7. The data acquisition module is used to acquire the detection signals obtained by the sensor under test 3 under different test conditions and send the detection signals to the control device 7, which then analyzes the detection signals.

[0061] The sampling frequency of the data acquisition module is adjustable, ranging from 2kHz to 1MHz, and is used to capture transient detection signals under dynamic test conditions.

[0062] (vii) Operating equipment 7.

[0063] The control device 7 in this embodiment has a housing and an integrated PLC control module. The PLC control module is used to control the test turntable 2, the robotic arm, the medium temperature simulation module, the medium flow simulation module, and the data acquisition module. Specifically, the control device 7 (specifically, the PLC control module of the control device 7) is used to simulate different test conditions by controlling the rotation speed of the test turntable 2, the posture of the robotic arm, the temperature of the medium temperature simulation module, and the flow state of the medium flow simulation module. Under different test conditions, it receives the detection signals obtained by the sensor under test 3 detecting the surface of the test turntable 2 in different working areas, analyzes the detection signals, and determines the performance of the sensor under test 3 under different test conditions.

[0064] The control device 7 is equipped with a touch screen 8 on its housing. The touch screen 8 serves as a control interface for setting operating parameters and displaying real-time test information. For example, the touch screen 8 is used to set preset speed curves, preset poses, preset temperature curves, preset flow velocity curves (i.e. preset flow states), and deformation parameters, and to achieve one-click switching of test conditions. It is also used to display detection signals and test results.

[0065] The PLC control module of the control device 7 is equipped with an automatic protection program to trigger emergency braking in case of overspeed, signal interruption or mechanical jamming, so as to stop the test turntable 2 from rotating.

[0066] The PLC control module of the control device 7 is used to record relevant parameters in case of a fault, thereby recording fault data and facilitating the analysis of the cause of the fault.

[0067] The control device 7 is equipped with a start / stop button 9. Pressing the start / stop button 9 controls the test turntable 2 to start or stop rotating.

[0068] The oil and gas pipeline detector equipped with the sensor performance dynamic testing device in this embodiment may also include a laser rangefinder. The laser rangefinder is used to detect the real-time distance between the detection surface of the sensor 3 under test and the working area under test, and sends the real-time distance to the control device 7. The control device 7 is used to adjust the attitude of the sensor 3 under test based on the real-time distance, so as to realize the real-time distance monitoring between the sensor detection surface and the working area and the sensor attitude correction.

[0069] Based on the aforementioned dynamic testing device, pressing the start / stop button 9 allows for the control of the components mounted on the testing platform 4 via the touchscreen 8. The adjustable mechanical arm 5 is fixedly mounted on the testing platform 4 and its movement can be controlled via the touchscreen 8. The adjustable mechanical arm 1 is fixedly mounted on the testing platform 4 and is driven by the adjustable mechanical arm 5. The sensor to be tested 3 is fixedly mounted at the end of the adjustable mechanical arm 1. The adjustable mechanical arm 5 drives the adjustable mechanical arm 1 to move, and the movement of the adjustable mechanical arm 1 can be controlled via the touchscreen 8. The adjustable mechanical arm 1 drives the sensor to be tested 3 to move, so that the sensor to be tested 3 reaches the designated working area of ​​the testing turntable 2. The testing turntable 2 is assembled at the center of the testing platform 4, and its acceleration and speed can be controlled via the touchscreen 8. By controlling the rotation speed of the testing turntable 2, the posture of the mechanical arm, the temperature of the medium temperature simulation module, and the flow state of the medium flow simulation module, different testing conditions are simulated, and the performance of the sensor to be tested 3 is tested under different testing conditions.

[0070] Based on the aforementioned dynamic testing device, this embodiment can simulate multiple different testing conditions, mainly including six testing conditions: speed simulation test condition, wear resistance and impact test condition, defect identification and quantification accuracy test condition, medium temperature-dynamic condition coupling adaptability test condition, medium flow disturbance-dynamic detection stability test condition, and pipeline deformation-dynamic detection adaptability test condition. Of course, other testing conditions can also be designed according to user needs.

[0071] During the simulated speed test, the control device 7 controls the rotation speed of the test turntable 2 to change according to the first preset speed curve, controls the position of the robotic arm to be in the first preset position, so that the detection surface of the sensor 3 to be tested faces the normal surface area and does not contact the normal surface area, and detects the surface of the test turntable 2 in the normal surface area.

[0072] When simulating wear resistance and impact testing conditions, if only wear resistance testing is performed, the control device 7 controls the rotation speed of the test turntable 2 to change according to the second preset speed curve, controls the position of the robotic arm to be in the second preset position, so that the detection surface of the sensor to be tested 3 faces the wear resistance simulation area and contacts the wear resistance simulation area, and detects the surface of the test turntable 2 in the wear resistance simulation area. If only impact testing is performed, the control device 7 controls the rotation speed of the test turntable 2 to change according to the third preset speed curve, controls the position of the robotic arm to be in the third preset position, so that the detection surface of the sensor to be tested 3 faces the impact simulation area and the sensor to be tested 3 collides with the impact object in the impact simulation area, and detects the surface of the test turntable 2 in the impact simulation area. If wear resistance testing and impact testing are performed simultaneously, the wear resistance test is performed first, followed by the impact test, or the impact test is performed first, followed by the wear resistance test.

[0073] When simulating defect identification and quantification accuracy testing, the control device 7 is used to control the rotation speed of the test turntable 2 to change according to the fourth preset speed curve, and to control the position of the robotic arm to be in the fourth preset position, so that the detection surface of the sensor 3 to be tested faces the defect simulation area and does not contact the defect simulation area, and to detect the surface of the test turntable 2 in the defect simulation area.

[0074] During the simulated medium temperature-dynamic working condition coupling adaptability test, the control device 7 is used to control the rotation speed of the test turntable 2 to change according to the fifth preset speed curve, control the temperature of the medium temperature simulation module to change according to the preset temperature curve, and control the position of the robotic arm to be in the fifth preset position, so that the detection surface of the sensor 3 under test faces the target area and does not contact the target area, and detects the surface of the test turntable 2 in the target area, which is either a normal surface area or a defect simulation area.

[0075] During the simulated medium flow disturbance-dynamic detection stability test, the control device 7 controls the rotation speed of the test turntable 2 to change according to the sixth preset speed curve, controls the flow state of the medium flow simulation module to change according to the preset flow state, and controls the position of the robotic arm to be in the sixth preset position, so that the detection surface of the sensor under test 3 faces the medium flow simulation area and the sensor under test 3 is in contact with the medium in the medium flow simulation area, and detects the surface of the test turntable 2 in the medium flow simulation area. The preset flow state includes at least one of laminar flow, turbulent flow and vortex.

[0076] During the simulated pipeline deformation-dynamic detection adaptability test, the control device 7 controls the rotation speed of the test turntable 2 to change according to the seventh preset speed curve, controls the position of the robotic arm to be in the seventh preset position, so that the detection surface of the sensor 3 to be tested faces the deformation simulation area and does not contact the deformation simulation area, and detects the surface of the test turntable 2 in the deformation simulation area.

[0077] The first preset speed curve, the second preset speed curve, the third preset speed curve, the fourth preset speed curve, the fifth preset speed curve, the sixth preset speed curve, and the seventh preset speed curve all include at least one of the following: acceleration curve, uniform speed curve, and deceleration curve.

[0078] Through the above process, simulations of different test conditions can be completed. Under each test condition, the detection signal obtained by the sensor under test 3 can be obtained. Subsequently, the detection signal is analyzed to determine the performance of the sensor under test 3 under different test conditions.

[0079] At this time, in order to analyze the detection signal and determine the performance of the sensor 3 under different test conditions, the control device 7 is used to analyze the detection signal, determine the performance evaluation parameters, and determine the performance of the sensor 3 under different test conditions based on the performance evaluation parameters.

[0080] For speed simulation test conditions, performance evaluation parameters include: signal amplitude, response delay, and number of valid data frames.

[0081] For wear resistance and impact testing conditions, performance evaluation parameters include: wear amount, structural integrity, signal-to-noise ratio, and anti-interference coefficient.

[0082] For defect identification and quantification accuracy testing, performance evaluation parameters include: detection probability, false alarm rate, and defect size measurement error.

[0083] For the coupled adaptability test of medium temperature and dynamic operating conditions, the performance evaluation parameters include: wear amount, structural deformation amount, material fatigue, amplitude variation coefficient, response delay and signal-to-noise ratio attenuation.

[0084] For the stability test of dynamic detection under the condition of medium flow disturbance, the performance evaluation parameters include: signal fluctuation coefficient, detection probability change rate and data packet loss rate.

[0085] For the pipeline deformation-dynamic detection adaptability test, the performance evaluation parameters include: detection range coverage, positioning deviation, defect identification rate, defect size measurement error, collision risk, and wear amount.

[0086] This embodiment discloses a dynamic testing device that can reproduce the motion state and environmental stress of the detector in the oil and gas pipeline in a controlled laboratory environment with high fidelity, and accurately evaluate the performance of the sensor 3 under test in this state, which greatly improves the detection efficiency and ensures the detection accuracy.

[0087] The following, combined with Figure 2 and Figure 3 The testing process of the dynamic testing device in this embodiment will be described in detail.

[0088] (a) Sensor installation and circuit continuity verification.

[0089] First, the sensor to be tested 3 is fixedly installed at the end of the adjustable robotic arm 1, with the detection surface of the sensor 3 (which is the end face used for detection) facing the surface of the test turntable 2 and kept parallel. Specifically, the detection surface of the sensor 3 is pretreated with a cleaning agent, dried, and then placed in a dedicated sensor clamping assembly and locked with lateral bolts to fix the sensor 3 to the end of the adjustable robotic arm 1, ensuring that the detection surface of the sensor 3 faces the surface of the test turntable 2 and is kept parallel, thus ensuring a firm installation and stable posture.

[0090] Subsequently, the power supply cable and signal cable of the sensor under test 3 are connected, with the power supply cable connected to the DC interface of the test platform 4 and the signal cable connected to the signal interface of the control device 7. At the same time, the signal cable can be connected to a redundant data acquisition module as needed, and the data acquisition module is connected to the signal interface of the control device 7, thus establishing a complete power supply link and signal link.

[0091] Finally, power is switched on to the control device 7, and the continuity detection interface is accessed via the touchscreen 8. The PLC control module outputs the detection voltage and monitors the current value in real time. When the current value is within the preset range, continuity is considered normal; otherwise, continuity is considered abnormal, and a fault is indicated, requiring troubleshooting of the cables and sensor status. After the circuit is confirmed to be functioning normally, the positioning setting interface is accessed via the touchscreen 8. The preset vertical distance and standardized defect coordinates (to lock the specific location of the defect) are input. The PLC control module drives the robotic arm to complete macro-positioning and fine-tuning positioning, so that the sensor under test 3 reaches the standardized defect coordinates. A laser rangefinder sensor is used to perform closed-loop height detection, ensuring that the distance between the detection surface of the sensor under test 3 and the surface of the test turntable 2 is the preset vertical distance. Locking is completed when the final height error (i.e., the difference between the distance between the detection surface of the sensor under test 3 and the surface of the test turntable 2 and the preset vertical distance) does not exceed the allowable range.

[0092] (ii) Dynamic performance test under simulated speed conditions (speed simulation test conditions).

[0093] The PLC control module drives the test turntable 2 to a preset speed, supporting constant speed, acceleration, deceleration, and continuous combination modes. The rotation speed, acceleration gradient, and sampling frequency are set and saved via the touchscreen 8. A pre-check is performed to confirm that the sensor 3 under test is collision-free and the signal link is normal before starting the formal test. During the test, the test turntable 2 runs at the preset speed, while an external data acquisition module collects the detection signal output by the sensor 3 under test in real time. The detection signal is analyzed to determine the signal amplitude, response delay, and number of valid data frames, and stored in a timestamp-based manner. After the test, the signal stability (coefficient of variation), dynamic response performance (delay time), and data integrity are automatically calculated, and a speed-signal response curve and test report are generated.

[0094] Specifically, the speed simulation test conditions include testing the signal response consistency and data acquisition integrity of the sensor 3 under test at different operating speeds (including constant speed, acceleration, and deceleration). This test addresses the limitations of existing static tests that completely ignore speed factors and the fixed speed conditions in the field test section (during field tests, under the influence of medium pressure difference, the sensor and the detector inside the oil and gas pipeline operate together, making speed control difficult and high-speed operation challenging). Through the PLC control module built into the control device 7, it can reproduce the full speed scenarios (constant speed 0.1m / s-5m / s, acceleration 0.05m / s) of the actual operation of the detector inside the oil and gas pipeline. 2 -2m / s 2 Deceleration 0.05m / s 2 -2m / s 2The rotational speed of the test turntable 2 is controlled in a closed loop via an encoder, with the actual rotational speed deviating from the preset speed by ≤±0.01m / s, thus mimicking speed fluctuations caused by changes in medium flow rate. A three-dimensional quantitative evaluation system of "speed parameters - signal response - data integrity" is established. Through an external data acquisition module (communicating with the control device 7), core parameters such as signal amplitude, response delay, and number of effective data frames of the output detection signal of the sensor under test 3 are simultaneously captured at a sampling frequency of ≥2000Hz under different speed modes. This avoids the qualitative judgment of traditional testing, achieving precise quantification of signal response consistency and data acquisition integrity, and providing traceable quantitative evidence for sensor performance evaluation. Simultaneously, it supports one-click switching and continuous operation of uniform speed, acceleration, and deceleration modes. There is no need to disassemble or adjust the relative position of the sensor under test 3 and the test turntable 2. Multi-mode testing can be automatically executed by preset speed curves on the touchscreen 8. Compared with traditional staged and device-specific testing, this significantly improves testing efficiency and avoids positioning deviations caused by multiple installations, ensuring the consistency of test data. Furthermore, it integrates speed over-tolerance protection (test turntable 2 brakes urgently when speed deviation ≥ ±0.1m / s) and signal interruption warning (alarm triggered when signal interruption lasts ≥ 1s). By controlling the device 7, the test status is monitored in real time to ensure the test process is safe and controllable. At the same time, it automatically records fault data to support subsequent fault analysis and solves the problems of traditional tests lacking real-time protection and losing fault data.

[0095] (III) Abrasion resistance and impact resistance test (abrasion resistance and impact test conditions).

[0096] Enter the wear / impact test interface, select either a standalone mode (wear resistance test or impact test) or a coupled mode (wear resistance test and impact test), and set parameters such as the rotation speed of the test turntable 2, friction time, roughness area (i.e., combination of rough surfaces), impact force, and impact frequency (which can be adjusted by setting the spacing between impacting objects). After confirming that the contact pressure between the sensor 3 under test and the test turntable 2 is within the set range, complete the no-load calibration. After the jog check passes, the test turntable 2 runs at the preset speed, and the detection surface of the sensor 3 under test continuously rubs against the roughness area to perform the wear resistance test. Alternatively, the sensor 3 under test impacts the impacting object to perform the impact test. If it is in coupled mode, it will automatically switch to the impact test after the wear resistance test is completed, or automatically switch to the wear resistance test after the impact test is completed. During the test, the data acquisition module records parameters such as wear amount, structural integrity, signal-to-noise ratio, and anti-interference coefficient, and finally generates a standardized test report.

[0097] Specifically, the wear resistance and impact test conditions are as follows: simulating the roughness of the inner wall of the pipeline and the impact when passing through welds and elbows, the mechanical robustness, signal-to-noise ratio, and anti-interference ability of the sensor are tested. This test breaks through the limitations of traditional tests that "separately simulate wear resistance and impact." By linking the multi-gradient roughness area (i.e., the wear resistance simulation area, Ra 1.6μm-12.5μm) prefabricated on the surface of the test turntable 2 with the impact simulation area, the coupled scenario of friction between the inner wall of the pipeline and the impact of welds / elbows is synchronously reproduced. This perfectly restores the complex stress environment of the sensor 3 under test in a real pipeline, solving the problem of the disconnect between single-condition simulation and actual field conditions. Based on this testing platform 4, seamless switching between abrasion resistance testing and impact testing is achieved without disassembling the sensor under test 3 or replacing the testing equipment. The testing mode can be switched with one click via the touch screen 8. The PLC control module built into the control device 7 is used to link the test turntable 2 and the robotic arm, which greatly reduces testing errors (reduces errors caused by inconsistent control variables due to manual disassembly and assembly, and reduces differences caused by module adaptation in traditional staged and equipment-based testing), improves testing efficiency, and reduces costs by 60% compared to traditional equipment-based testing. This test abandons the traditional "qualitative observation" evaluation method and establishes a dual-dimensional quantitative system of "mechanical performance + signal performance". Mechanical performance is judged by wear amount (≤0.1mm) and structural integrity, while signal performance is quantified by signal-to-noise ratio (≥25dB) and anti-interference coefficient. With the help of an external data acquisition module (≥5000Hz sampling frequency), the instantaneous impact signal is captured, realizing accurate traceability of performance indicators and meeting the compliance requirements of engineering-level testing. This test supports free adjustment of roughness gradient (Ra 1.6μm / 3.2μm / 6.3μm / 12.5μm), impact force (0.5N-5N), and impact frequency (1 time / 10s). Through the PLC control module, the impact force error is ≤±0.1N and the rotational speed deviation of the test turntable 2 is ≤±0.01m / s. It can adapt to the sensor testing needs of different pipe diameters and different operating environments, and its flexibility far exceeds that of the fixed working condition field test section.

[0098] (iv) Defect identification and quantification performance testing (defect identification and quantification accuracy testing conditions).

[0099] By selecting the target standardized defect type (i.e., defect combination, including cracks, corrosion, etc.) on the touchscreen 8, and setting the rotation speed, number of scans, and sampling frequency of the test turntable 2, a momentary calibration is performed to confirm that the area where the defect combination is located can accurately pass through the detection range of the sensor under test 3. After starting the test, the sensor under test 3 dynamically scans the defect, collecting characteristic data such as signal amplitude and response time. The 100 scan signals are matched and calculated with the defect feature library to obtain the detection probability and false alarm rate. The defect size (length, depth, width) and the quantified defect size measurement error are calculated using the calibration model. After the test, a defect identification and quantification report is automatically generated.

[0100] Specifically, the defect identification and quantification accuracy test involves setting up a series of standardized defects of known size, type, and orientation on the pipeline. An oil and gas pipeline detector equipped with a sensor dynamically passes through these defects, and the detection probability, false alarm rate, and measurement error of defect dimensions (such as length, width, and depth) are evaluated (reflecting measurement accuracy). This test overcomes the limitations of traditional tests that rely on a single defect type and static arrangement. Standardized defects of all types (1mm-10mm in length, 0.1mm-5mm in depth) are pre-fabricated on the surface of the test turntable 2, including cracks, corrosion, and weld defects. Combined with the dynamic rotation speed (0.1m / s-5m / s) of the test turntable 2 controlled by a PLC module, the core scenario of the sensor 3 "dynamically scanning defects" in a real pipeline is reproduced. This addresses the pain point of static testing's inability to simulate the actual detection process, ensuring consistency between test results and field applications. Simultaneously, a three-dimensional quantitative index of "detection probability + false alarm rate + defect size measurement error" is established, abandoning the traditional qualitative evaluation model. Dynamic defect signals are captured by an external data acquisition module (≥2000Hz sampling frequency). The signal analysis software built into the control device 7, equipped with a "feature matching algorithm + size quantization model," accurately calculates the detection probability (≥95%), false alarm rate (≤1%), and measurement errors of defect dimensions such as length / width / depth (≤5%), providing traceable quantitative evidence for sensor performance. This test supports free combination and rapid replacement of standardized defect types, sizes, and orientations. Different defect combinations can be called up with one click via the touch screen 8 without disassembling the test turntable 2. It adapts to personalized testing needs such as "micro-crack detection" and "irregular corrosion identification." Compared with the fixed defect testing mode in the field test section, the flexibility is increased by 80%, adapting to sensor R&D iteration scenarios. Meanwhile, a combination of "high sampling rate + signal filtering algorithm" is adopted. The data acquisition module synchronously records the defect signal and the real-time rotation speed of the test turntable 2. The "dynamic working condition - signal characteristics" are accurately correlated by aligning the timestamps. The signal analysis software has a built-in anti-interference processing module (including interference detection and identification module, signal modulation and coding module, filtering processing module, feedback correction and adaptive adjustment module) to filter interference signals such as turntable friction and mechanical vibration, ensuring the accuracy of defect signal extraction and solving the problem of interference signals affecting the evaluation results in dynamic testing.

[0101] (v) Medium temperature-dynamic operating condition coupling adaptability test (medium temperature-dynamic operating condition coupling adaptability test condition).

[0102] Enter the medium temperature-dynamic operating condition coupling interface, set the temperature gradient (-20℃ to 120℃) and the holding time for each temperature range. After the medium temperature simulation module starts, it forms a closed-loop temperature control to keep the surface temperature of the test turntable 2 within the set error range. After reaching the stable temperature, the dynamic scanning test is started, collecting multi-dimensional data including wear, structural deformation, material fatigue, amplitude variation coefficient, response delay, and signal-to-noise ratio attenuation. After each temperature range test is completed, it automatically switches to the next temperature range until all temperature gradient tests are completed. The data is automatically processed to generate the sensor's performance curve and evaluation report as a function of temperature.

[0103] Specifically, the medium temperature-dynamic operating condition coupling adaptability test condition is as follows: Through the medium temperature simulation module, the coordinated scenario of a medium temperature of -20℃ to 120℃ and a dynamic rotation speed of 0.1m / s to 5m / s within an oil and gas pipeline is accurately reproduced. Simultaneously, the temperature rise and fall rate (0.5℃ / min to 2℃ / min) is simulated, consistent with the actual temperature rise and fall patterns of the pipeline. This addresses the core pain points of traditional testing, which cannot simulate the increased friction due to high temperatures, signal delay caused by low temperatures, and structural stress induced by sudden temperature changes. A quantitative system of "mechanical reliability + signal stability" is established, rather than a qualitative judgment. Mechanical reliability focuses on wear, structural deformation, and material fatigue, while signal stability encompasses amplitude variation coefficient, response delay, and signal-to-noise ratio attenuation. Accurate traceability of sensor performance under coupled conditions is achieved through full-cycle data acquisition, avoiding the one-sidedness of single-index evaluation. The system utilizes a PLC control module to achieve triple closed-loop control of temperature (error ≤ ±2℃), rotation speed (deviation ≤ ±0.01m / s), and temperature rise / fall rate (error ≤ ±0.1℃ / min). It supports free combination and preset of temperature gradient, holding time, and dynamic rotation speed, adapting to testing needs in different pipeline service environments such as cold regions, high temperatures, and large diurnal temperature variations. Temperature effects are simultaneously applied to the standardized defect area of ​​test turntable 2, simulating real-world scenarios of defect edge oxidation at high temperatures and internal stress changes at low temperatures. This evaluates the sensor's accuracy in identifying and quantifying defects after temperature action, filling the gap in traditional testing that only focuses on the sensor itself and ignores the impact of temperature on defect characteristics. The medium temperature simulation module supports temperature conduction simulation of different types of pipeline media (crude oil, natural gas, sulfur-containing media). By changing the medium conduction layer (each medium conduction layer corresponds to a different medium, generating different thermal conductivity coefficients to simulate different ambient temperatures), it reproduces the impact of differences in thermal conductivity of different media on the sensor's detection environment, solving the problem of traditional testing's single-medium simulation and insufficient adaptability. During the coupling test, the PLC control module monitors faults such as temperature deviation, signal interruption, and abnormal sensor heating in real time. It automatically records the temperature, speed, and signal parameters when the fault occurs, generates a fault tracing report, and triggers the emergency braking protection device to prevent the fault from escalating. This solves the shortcomings of traditional test fault data loss and lack of real-time protection.

[0104] (vi) Medium flow disturbance – dynamic detection stability test (medium flow disturbance – dynamic detection stability test condition).

[0105] Select the flow mode and parameters (flow velocity gradient, medium viscosity, disturbance frequency), and set the speed and sampling frequency of the test turntable 2. Inject the simulated medium into the medium flow simulation area, and form a closed-loop control through the flow velocity sensor, while simultaneously activating the turbulence generator to produce disturbances. After the test starts, the test turntable 2 runs at the preset speed, and the medium flow simulation module generates flow disturbances. The sensor 3 under test detects defects under realistic simulated flow velocity and disturbance conditions, collecting multi-dimensional data such as signal fluctuation coefficient, detection probability change rate, and data packet loss rate. After each flow velocity level is tested, the system automatically switches to the next level. Data analysis is used to obtain the change law of detection stability under different flow disturbance conditions.

[0106] Specifically, the medium flow disturbance-dynamic detection stability test condition is as follows: An integrated medium flow simulation module (including a turbulence generator and a flow velocity control unit) accurately reproduces the real flow state (laminar flow, turbulent flow, vortex) of media such as crude oil and natural gas in the pipeline. The flow velocity can be continuously adjusted within the range of 0.5 m / s to 10 m / s. Simultaneously, it simulates the medium viscosity (the medium containment tank is filled with water, oil, gas, etc. to recreate the real pipeline environment) (50 mPa). s-100mPa s) Matching the actual pipeline, it solves the pain point that traditional testing cannot reproduce the impact of flow disturbance on sensor detection. It realizes three-dimensional coupled testing of "medium flow disturbance + dynamic rotation speed + defect detection", rather than single-dimensional simulation. Through the PLC control module, the medium flow simulation module and the test turntable 2 are linked to synchronously reproduce the real working condition of the sensor in the pipeline "moving, being disturbed by the medium, and detecting defects at the same time", filling the gap of three-dimensional coupled testing. This test supports free combinations of flow modes (laminar / turbulent / vortex), velocity gradients (0.5m / s, 1m / s, 1.5m / s, 2m / s, 2.5m / s, 3m / s, 3.5m / s, 4m / s, 4.5m / s, 5m / s, 5.5m / s, 6m / s, 6.5m / s, 7m / s, 7.5m / s, 8m / s, 8.5m / s, 9m / s, 9.5m / s, 10m / s), and medium viscosity. Parameter schemes can be switched with a single click on the touchscreen 8 without changing the testing equipment. It adapts to the testing needs of pipe sensors for different pipe diameters and media types, offering far greater flexibility than fixed-condition testing. A three-dimensional quantitative evaluation system of "signal stability + detection accuracy + data integrity" is established, abandoning the traditional qualitative observation mode. A high sampling rate (≥3000Hz) data acquisition module captures instantaneous signals under disturbances, calculating quantitative indicators such as signal fluctuation coefficient, detection probability change rate, and data packet loss rate, providing traceable evidence for anti-disturbance performance. The system simulates the scouring and adhesion effects on the sensor detection surface during medium flow. By adding trace amounts of simulated impurities (such as pipe corrosion particles) to the flowing medium, the interference of medium components on the detection signal is reproduced, evaluating the sensor's stability under the dual effects of "physical scouring + chemical interference," solving the problem of traditional testing focusing only on flow velocity and ignoring the influence of medium composition. By accurately aligning flow parameters (flow velocity, disturbance frequency) with sensor signal data through timestamps, a "disturbance intensity-signal response" correlation curve is generated, intuitively presenting the impact of different disturbance levels on detection performance. This provides precise data support for optimizing sensor anti-disturbance algorithms, rather than the general evaluation of traditional testing.

[0107] (vii) Simulated pipeline deformation – dynamic detection adaptability test (pipeline deformation – dynamic detection adaptability test working condition).

[0108] Select the deformation type and input parameters such as bending curvature and indentation depth to create a deformation combination on the surface of test turntable 2. After calibration with measuring tools, the surface flatness is detected by a laser rangefinder sensor. After starting the test, the PLC control module adjusts the posture of the robotic arm according to real-time distance data to ensure that the detection surface of the sensor 3 under test is in contact with the deformed surface. The data acquisition module simultaneously records data such as deformation parameters, signal amplitude, and positioning deviation. After completing one deformation combination test, another deformation combination can be changed. Finally, the adaptability of the sensor 3 under test in different deformation scenarios can be obtained through multiple sets of working condition data.

[0109] Specifically, the pipeline deformation-dynamic detection adaptability test condition is as follows: By adding adjustable curvature bending, denting, and bulging to the test turntable 2, typical deformation scenarios in actual pipeline service are accurately reproduced—local bending (curvature radius 500mm-1000mm), slight denting (depth 1mm-3mm), and axial bulging (height 1mm-2mm), solving the pain point of traditional testing being unable to reproduce the impact of pipeline construction deviations and aging deformation on detection. It achieves collaborative simulation of "pipeline deformation + dynamic rotation speed + defect detection," rather than a single static deformation test. Through the PLC control module, the deformation combination and test turntable 2 are linked, synchronously reproducing the real working condition of the sensor "moving, adapting to deformation, and detecting defects simultaneously" within the deformed pipeline, filling the gap in three-dimensional coupled testing. It supports free combination and continuous adjustment of deformation type, curvature, indentation depth, and bulge height. Parameters can be input via the touchscreen 8 for one-click switching. The deformation error is ≤±0.05mm, adapting to the testing needs of pipelines with different diameters (DN100-DN500) and different degrees of deformation, offering far greater flexibility than fixed deformation scenarios in on-site test sections. Equipped with a three-dimensional evaluation system of "positioning adaptation + detection performance + mechanical compatibility," it abandons traditional qualitative observation. Positioning adaptation focuses on detection range coverage and positioning deviation; detection performance quantifies defect recognition rate and defect size measurement error; and mechanical compatibility assesses the collision risk and wear amount between the sensor and the deformed surface, achieving precise traceability of adaptability. Standardized defects (such as cracks in the center of indentations and corrosion pits in bending areas) are pre-fabricated in the deformation area of ​​the test turntable 2 to simulate the scenario of "deformation and defects coexisting" in real pipelines. This evaluates the sensor's ability to identify defects under deformation interference, solving the problem of traditional testing focusing only on deformation itself and ignoring the interactive effects of defects. During the test, the laser rangefinder sensor collects the distance data between the sensor under test 3 and the deformed surface in real time. The PLC control module dynamically adjusts the posture of the robotic arm to avoid collision damage. At the same time, it automatically records the signal fluctuation characteristics of the deformed area, providing data support for the optimization of the sensor adaptation algorithm and solving the defects of traditional testing such as lack of real-time protection and data fragmentation.

[0110] The dynamic testing device in this embodiment has the following advantages.

[0111] (1) High-fidelity reproduction of working conditions: It can reproduce the multi-dimensional coupled working conditions such as velocity, temperature, flow disturbance and structural deformation in the pipeline in high fidelity in the laboratory.

[0112] (2) Quantitative evaluation and traceability: Transform traditional qualitative testing into quantifiable indicators (identification probability, false alarm rate, signal-to-noise ratio, wear amount, response delay, etc.) and support full timestamp traceability.

[0113] (3) High precision and repeatability: Key parameters such as positioning, rotation speed, temperature and flow rate are all controlled by closed loop, with small error and high repeatability of test results.

[0114] (4) High efficiency and automation: One-click preset parameters, automatic switching of test conditions and automatic data analysis significantly shorten the test cycle and reduce manual intervention.

[0115] (5) Strong robustness and safety: redundant acquisition, real-time protection (over-tolerance alarm, emergency braking), online fault recording, improve test reliability and equipment safety.

[0116] (6) Good adaptability and scalability: The modular design facilitates the adaptation to different types of sensors, different pipe diameters and different media, as well as subsequent functional expansion.

[0117] (7) Cost and resource advantages: Compared with the field test section, the laboratory can repeat, quickly and at low cost to complete multi-condition coverage tests, improving the efficiency of R&D iteration.

[0118] Example 2.

[0119] This embodiment provides a dynamic testing method for the performance of a sensor mounted on an oil and gas pipeline detector. This method controls the dynamic testing device for the performance of a sensor mounted on an oil and gas pipeline detector as described in Embodiment 1. The method includes: controlling the rotational speed of the test turntable, the posture of the robotic arm, the temperature of the medium temperature simulation module, and the flow state of the medium flow simulation module to simulate different test conditions. Under different test conditions, the method receives detection signals obtained by the sensor under test detecting the surface of the test turntable in different working areas. The detection signals are then analyzed to determine the performance of the sensor under test under different test conditions.

[0120] Example 3.

[0121] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 4As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for dynamically testing the performance of sensors mounted on an oil and gas pipeline detector.

[0122] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0123] In one exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the dynamic testing method for the performance of sensors mounted on an oil and gas pipeline detector in Embodiment 2.

[0124] Example 4.

[0125] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the dynamic testing method for the performance of sensors mounted on an oil and gas pipeline detector in Embodiment 2.

[0126] Example 5.

[0127] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the dynamic testing method for the performance of sensors mounted on an oil and gas pipeline detector in Embodiment 2.

[0128] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of the relevant data are carried out in compliance with the relevant data protection laws and policies of the country where the location is located, and with the authorization granted by the owner of the corresponding device.

[0129] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A dynamic testing device for sensor performance of an in-pipeline detector, characterized in that, The oil and gas pipeline internal detector equipped with a sensor performance dynamic testing device includes: a testing platform, a testing turntable, a robotic arm, a medium temperature simulation module, a medium flow simulation module, and a control device. The testing turntable and the robotic arm are both mounted on the testing platform, the medium temperature simulation module and the medium flow simulation module are both mounted on the testing turntable, and the testing turntable, the robotic arm, the medium temperature simulation module, and the medium flow simulation module are all connected to the control device for control. The surface of the test turntable is divided into different working areas, including a normal surface area, a wear resistance simulation area, an impact simulation area, a defect simulation area, a medium flow simulation area, and a deformation simulation area. The end of the robotic arm is equipped with a sensor to be tested, which is communicatively connected to the control device; the sensor to be tested is used to detect the surface of the test turntable and obtain a detection signal; the sensor to be tested is a sensor mounted on an oil and gas pipeline detector. The medium temperature simulation module is used to adjust the temperature of the test turntable surface. The medium flow simulation module is installed in the medium flow simulation area; the medium flow simulation module is used to adjust the flow state of the medium in the medium flow simulation area; The control device is used to simulate different test conditions by controlling the rotation speed of the test turntable, the posture of the robotic arm, the temperature of the medium temperature simulation module, and the flow state of the medium flow simulation module. Under different test conditions, it receives the detection signals obtained by the sensor under test detecting the surface of the test turntable in different working areas, analyzes the detection signals, and determines the performance of the sensor under test under different test conditions.

2. The dynamic testing device for sensor performance of an in-pipeline detector according to claim 1, characterized in that, The test conditions include: speed simulation test condition, wear resistance and impact test condition, defect identification and quantification accuracy test condition, medium temperature-dynamic condition coupling adaptability test condition, medium flow disturbance-dynamic detection stability test condition, and pipeline deformation-dynamic detection adaptability test condition.

3. The dynamic testing device for sensor performance of the oil and gas pipeline in-situ detector according to claim 2, characterized in that, When simulating the speed simulation test conditions, the control device is used to control the rotation speed of the test turntable to change according to the first preset speed curve, control the position of the robotic arm to be in the first preset position, so that the detection surface of the sensor to be tested faces the normal surface area and does not contact the normal surface area, and detects the surface of the test turntable in the normal surface area. The test turntable surface in the normal surface area is the original surface of the test turntable.

4. The dynamic testing device for sensor performance of an in-pipeline detector according to claim 2, characterized in that, When simulating the wear resistance and impact test conditions, if only the wear resistance test is performed, the control device is used to control the rotation speed of the test turntable to change according to the second preset speed curve, control the position of the robotic arm to be in the second preset position, so that the detection surface of the sensor to be tested faces the wear resistance simulation area and contacts the wear resistance simulation area, and the surface of the test turntable in the wear resistance simulation area is detected. If only the impact test is performed, the control device is used to control the rotation speed of the test turntable to change according to the third preset speed curve, control the position of the robotic arm to be in the third preset position, so that the detection surface of the sensor to be tested faces the impact simulation area and the sensor to be tested collides with the impacting object in the impact simulation area, and the surface of the test turntable in the impact simulation area is detected. If both the wear resistance test and the impact test are performed simultaneously, the wear resistance test is performed first, followed by the impact test, or the impact test is performed first, followed by the wear resistance test. In the wear resistance simulation area, the test turntable surface is fabricated with multiple combinations of rough surfaces, and the number and / or roughness of the rough surfaces included in different combinations of rough surfaces are different; in the impact simulation area, the test turntable surface is fabricated with multiple combinations of impactors, and the number and / or spacing of the impactors included in different combinations of impactors are different, and the impactors are welds.

5. The dynamic testing device for sensor performance of an in-pipeline detector according to claim 2, characterized in that, When simulating the defect identification and quantification accuracy test conditions, the control device is used to control the rotation speed of the test turntable to change according to the fourth preset speed curve, control the position of the robotic arm to be in the fourth preset position, so that the detection surface of the sensor to be tested faces the defect simulation area and does not contact the defect simulation area, and detects the surface of the test turntable in the defect simulation area. The test turntable surface in the defect simulation area is fabricated with multiple defect combinations. Different defect combinations include different numbers, sizes and / or types of defects, including cracks and corrosion.

6. The dynamic testing device for sensor performance of an in-pipeline detector according to claim 2, characterized in that, When simulating the coupled adaptability test of the medium temperature and dynamic working conditions, the control device is used to control the rotation speed of the test turntable to change according to the fifth preset speed curve, control the temperature of the medium temperature simulation module to change according to the preset temperature curve, and control the position of the robotic arm to be in the fifth preset position, so that the detection surface of the sensor under test faces the target area without contacting the target area, and detects the surface of the test turntable in the target area; the target area is the normal surface area or the defect simulation area; The test turntable surface in the target area is covered with a dielectric conductive layer.

7. The dynamic testing device for sensor performance of an in-pipeline detector according to claim 2, characterized in that, When simulating the medium flow disturbance-dynamic detection stability test condition, the control device is used to control the rotation speed of the test turntable to change according to the sixth preset speed curve, control the flow state of the medium flow simulation module to change according to the preset flow state, and control the position of the robotic arm to be in the sixth preset position, so that the detection surface of the sensor under test faces the medium flow simulation area and the sensor under test contacts the medium in the medium flow simulation area, and detects the surface of the test turntable in the medium flow simulation area; the preset flow state includes at least one of laminar flow, turbulent flow and vortex. In the medium flow simulation area, the test turntable surface is etched with a medium receiving groove, the medium receiving groove is filled with medium, the bottom surface of the medium receiving groove is manufactured with defects, and impurities are added to the medium.

8. The dynamic testing device for sensor performance of an oil and gas pipeline detector according to claim 2, characterized in that, When simulating the pipeline deformation-dynamic detection adaptability test condition, the control device is used to control the rotation speed of the test turntable to change according to the seventh preset speed curve, control the position of the robotic arm to be in the seventh preset position, so that the detection surface of the sensor to be tested faces the deformation simulation area and does not contact the deformation simulation area, and detects the surface of the test turntable in the deformation simulation area. The test turntable surface in the deformation simulation area is fabricated with multiple deformation combinations. The number, size and / or type of deformations included in different deformation combinations are different. The deformation types include bending, denting and bulging.

9. The dynamic testing device for sensor performance of an oil and gas pipeline in-situ detector according to claim 2, characterized in that, In analyzing the detection signal to determine the performance of the sensor under test under different test conditions, the control device is used to analyze the detection signal, determine performance evaluation parameters, and determine the performance of the sensor under test under different test conditions based on the performance evaluation parameters. For the aforementioned speed simulation test conditions, the performance evaluation parameters include: signal amplitude, response delay, and number of valid data frames; For the aforementioned wear resistance and impact test conditions, the performance evaluation parameters include: wear amount, structural integrity, signal-to-noise ratio, and anti-interference coefficient; For the aforementioned defect identification and quantification accuracy test conditions, the performance evaluation parameters include: detection probability, false alarm rate, and defect size measurement error; For the medium temperature-dynamic operating condition coupled adaptability test condition, the performance evaluation parameters include: wear amount, structural deformation amount, material fatigue degree, amplitude variation coefficient, response delay and signal-to-noise ratio attenuation; For the aforementioned medium flow disturbance-dynamic detection stability test condition, the performance evaluation parameters include: signal fluctuation coefficient, detection probability change rate, and data packet loss rate; For the pipeline deformation-dynamic detection adaptability test condition, the performance evaluation parameters include: detection range coverage, positioning deviation, defect identification rate, defect size measurement error, collision risk, and wear amount.

10. A method for dynamic testing of the performance of a sensor mounted on an oil and gas pipeline detector, used to control the dynamic testing device for the performance of a sensor mounted on an oil and gas pipeline detector as described in any one of claims 1-9, characterized in that... The dynamic testing method for the sensor performance of the detector inside the oil and gas pipeline includes: The rotational speed of the test turntable, the posture of the robotic arm, the temperature of the medium temperature simulation module, and the flow state of the medium flow simulation module are controlled to simulate different test conditions. Under different test conditions, the detection signals obtained by the sensor under test detecting the surface of the test turntable in different working areas are received. The detection signals are analyzed to determine the performance of the sensor under test under different test conditions.

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